IEEE Transactions on Automatic Control最新文献_第6页

Differential Transparency and Excitability Functions for Cooperative Systems 合作系统的微分透明性和可激性函数

IF 7 1区计算机科学

IEEE Transactions on Automatic Control Pub Date : 2026-10-01 Epub Date: 2026-04-13 DOI: 10.1109/TAC.2026.3682938

Yu Kawano;Arijit Sarkar;Jacquelien M. A. Scherpen

{"title":"Differential Transparency and Excitability Functions for Cooperative Systems","authors":"Yu Kawano;Arijit Sarkar;Jacquelien M. A. Scherpen","doi":"10.1109/TAC.2026.3682938","DOIUrl":"10.1109/TAC.2026.3682938","url":null,"abstract":"In this article, we introduce novel concepts of <inline-formula><tex-math>$L_{1}$</tex-math></inline-formula> differential transparency and <inline-formula><tex-math>$L_infty$</tex-math></inline-formula> differential excitability functions and analyze their properties in cooperative nonlinear systems. Specifically, we establish connections among the positive definiteness of the <inline-formula><tex-math>$L_{1}$</tex-math></inline-formula> differential transparency (respectively, <inline-formula><tex-math>$L_infty$</tex-math></inline-formula> differential excitability) function, transparency (respectively, excitability), and stability of the associated variational systems, where transparency and excitability are weaker observability and reachability concepts compared to local observability and local accessibility, respectively. These <inline-formula><tex-math>$L_{1}$</tex-math></inline-formula> differential transparency and <inline-formula><tex-math>$L_infty$</tex-math></inline-formula> differential excitability functions can be computed numerically by simulation of cooperative systems and their variational system. We also provide convex approaches to estimating their upper or lower bound. Furthermore, we define the <inline-formula><tex-math>$L_{1}$</tex-math></inline-formula> incremental transparency and <inline-formula><tex-math>$L_infty$</tex-math></inline-formula> incremental excitability functions, which are studied in terms of the differential energy functions. Finally, we apply the proposed differential energy functions to model reduction of cooperative systems by truncation and singular perturbation.","PeriodicalId":13201,"journal":{"name":"IEEE Transactions on Automatic Control","volume":"71 10","pages":"6447-6462"},"PeriodicalIF":7.0,"publicationDate":"2026-10-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://ieeexplore.ieee.org/stamp/stamp.jsp?tp=&arnumber=11479879","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"147684633","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":1,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"OA","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 0

Verification and Synthesis of Compatible Control Lyapunov and Multiple High-Order Control Barrier Functions 兼容控制Lyapunov和多高阶控制势垒函数的验证与综合

IF 7 1区计算机科学

IEEE Transactions on Automatic Control Pub Date : 2026-10-01 Epub Date: 2026-03-11 DOI: 10.1109/TAC.2026.3692000

Chuanrui Jiang;Hongkai Dai;Andrew Clark

{"title":"Verification and Synthesis of Compatible Control Lyapunov and Multiple High-Order Control Barrier Functions","authors":"Chuanrui Jiang;Hongkai Dai;Andrew Clark","doi":"10.1109/TAC.2026.3692000","DOIUrl":"https://doi.org/10.1109/TAC.2026.3692000","url":null,"abstract":"Stability and safety are important properties of control systems. control Lyapunov functions (CLF) and control barrier functions (CBF) have been proposed to enforce stability and safety properties, respectively. However CLFs and CBFs could fail to guarantee joint safety and stability when there does not exist a common control action that simultaneously satisfies both the CBF and CLF constraints. In this article, for control-affine dynamical systems both with and without input limits, we propose the necessary and sufficient condition for compatible CLFs and multiple high-order control barrier functions. We derive the compatibility condition using Farkas’ Lemma and Positivstellensatz, and formulate an sum-of-squares (SOS) program to numerically verify the compatibility condition. Based on the proposed verification framework, we propose a bilinear-alternating method to synthesize compatible CLFs and CBFs with a large safe region and region-of-attraction. Moreover, we derive the necessary and sufficient condition for the continuity of the CLF-CBF-quadratic program controller, which we can verify through solving an SOS program. We showcase our approach in several numerical examples, including adaptive cruise control, an inverted pendulum, and a 13-state quadrotor.","PeriodicalId":13201,"journal":{"name":"IEEE Transactions on Automatic Control","volume":"71 10","pages":"6744-6759"},"PeriodicalIF":7.0,"publicationDate":"2026-10-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"149072262","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":1,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 0

A New Approach to the Data-Driven Output-Based LQR Problem of Continuous-Time Linear Systems 基于数据驱动输出的连续时间线性系统LQR问题的新方法

IF 7 1区计算机科学

IEEE Transactions on Automatic Control Pub Date : 2026-10-01 Epub Date: 2026-03-07 DOI: 10.1109/TAC.2026.3691226

Liquan Lin;Haoyan Lin;Jie Huang

{"title":"A New Approach to the Data-Driven Output-Based LQR Problem of Continuous-Time Linear Systems","authors":"Liquan Lin;Haoyan Lin;Jie Huang","doi":"10.1109/TAC.2026.3691226","DOIUrl":"https://doi.org/10.1109/TAC.2026.3691226","url":null,"abstract":"A promising method for constructing a data-driven output-feedback control law involves the construction of a model-free observer. The linear quadratic regulator (LQR) optimal control policy can then be obtained by both policy-iteration (PI) and value-iteration (VI) algorithms. However, this method requires some unknown parameterization matrix to be of full row rank and needs to solve a sequence of high dimensional linear equations for either PI or VI algorithm. In this article, we first show that this matrix is of full row rank under the standard controllability assumption of the plant, thus removing a hurdle for applying this method. Then we further modify the existing method by defining an auxiliary system whose LQR solution will lead to a data-driven output-feedback control law. By this new method, the rank condition of the unknown parameterization matrix is not needed any more. Moreover, we derive a new sequence of linear equations for either PI or VI algorithm whose number of unknown variables is significantly less than that of the existing PI or VI algorithm, thus not only improving the computational efficiency but also relaxing the solvability conditions of the existing PI or VI algorithm. Further, since the existing PI or VI algorithm only applies to the case where some Riccati equation admits a unique positive definite solution, we prove that both the PI algorithm and the VI algorithm in the literature can be generalized to the case where the Riccati equation only admits a unique positive semi-definite solution.","PeriodicalId":13201,"journal":{"name":"IEEE Transactions on Automatic Control","volume":"71 10","pages":"6802-6817"},"PeriodicalIF":7.0,"publicationDate":"2026-10-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://ieeexplore.ieee.org/stamp/stamp.jsp?tp=&arnumber=11511740","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"149072288","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":1,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"OA","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 0

A Geometric Method to Target Defense Problems With a Delayed Attacker 具有延迟攻击者的目标防御问题的几何方法

IF 7 1区计算机科学

IEEE Transactions on Automatic Control Pub Date : 2026-10-01 Epub Date: 2026-03-12 DOI: 10.1109/TAC.2026.3692343

Shuai Li;Chen Wang;Guangming Xie

引用次数: 0

Computing Safety Margins of Parameterized Nonlinear Systems for Vulnerability Assessment via Trajectory Sensitivities 基于轨迹灵敏度的参数化非线性系统脆弱性评估安全裕度计算

IF 7 1区计算机科学

IEEE Transactions on Automatic Control Pub Date : 2026-10-01 Epub Date: 2026-03-06 DOI: 10.1109/TAC.2026.3691023

Michael W. Fisher

{"title":"Computing Safety Margins of Parameterized Nonlinear Systems for Vulnerability Assessment via Trajectory Sensitivities","authors":"Michael W. Fisher","doi":"10.1109/TAC.2026.3691023","DOIUrl":"https://doi.org/10.1109/TAC.2026.3691023","url":null,"abstract":"Physical systems experience nonlinear disturbances, which have the potential to disrupt desired behavior. For a particular disturbance, whether or not the system recovers from the disturbance to a desired stable equilibrium point depends on system parameter values, which are typically uncertain and time-varying. Therefore, to quantify proximity to vulnerability, we define the safety margin to be the smallest change in parameter values from a nominal value such that the system will no longer be able to recover from the disturbance. Safety margins are valuable but challenging to compute as related methods, such as those for robust region of attraction estimation, are often either overly conservative or computationally intractable for high-dimensional systems. Recently, we developed algorithms to compute safety margins efficiently and nonconservatively by exploiting the large sensitivity of the system trajectory near the region of attraction boundary to small perturbations. Although these algorithms have enjoyed empirical success, they lack theoretical guarantees that would ensure their generalizability. This work develops a novel characterization of safety margins in terms of trajectory sensitivities, and uses this to derive well-posedness and convergence guarantees for these algorithms, enabling their generalizability and successful application to a large class of nonlinear systems.","PeriodicalId":13201,"journal":{"name":"IEEE Transactions on Automatic Control","volume":"71 10","pages":"6669-6684"},"PeriodicalIF":7.0,"publicationDate":"2026-10-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"149072312","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":1,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 0

Model Order Reduction of Switched Systems on Riemannian Manifold 黎曼流形上切换系统的模型阶约简

IF 7 1区计算机科学

IEEE Transactions on Automatic Control Pub Date : 2026-10-01 Epub Date: 2026-04-30 DOI: 10.1109/TAC.2026.3689328

Yao-Lin Jiang;Wei-Gang Wang;Zhen Miao

引用次数: 0

Minimal Controllability of Sphere and Torus Grid Graphs 球面和环面网格图的最小可控性

IF 7 1区计算机科学

IEEE Transactions on Automatic Control Pub Date : 2026-10-01 Epub Date: 2026-06-01 DOI: 10.1109/TAC.2026.3698015

Tianhao Li;Yibei Li;Zhixin Liu;Xiaoming Hu

{"title":"Minimal Controllability of Sphere and Torus Grid Graphs","authors":"Tianhao Li;Yibei Li;Zhixin Liu;Xiaoming Hu","doi":"10.1109/TAC.2026.3698015","DOIUrl":"https://doi.org/10.1109/TAC.2026.3698015","url":null,"abstract":"Network controllability is essential for designing the control algorithms of networked systems, among which the minimal controllability problem has attracted much attention of researchers due to the need of conserving control resources in practical applications. In this article, we investigate the minimal controllability problem of Laplacian dynamics on two classes of nonplanar graphs, namely, sphere grid graphs and torus grid graphs. Since the Laplacian matrices of sphere grid graphs are closely related to the adjacency matrices of cylinder grid graphs, we first analyze the minimal numbers of control nodes required to guarantee controllability of networked linear systems whose system matrices are adjacency matrices of cylinder grid graphs. By exploring the relation between Laplacian matrices of sphere grid graphs and adjacency matrices of cylinder grid graphs, we then establish upper and lower bounds for the minimal number of control nodes required to guarantee controllability of Laplacian dynamic systems on sphere grid graphs. Finally, we provide the exact minimal number of control nodes and a corresponding control node set to guarantee controllability of the Laplacian dynamic systems on torus grid graphs.","PeriodicalId":13201,"journal":{"name":"IEEE Transactions on Automatic Control","volume":"71 10","pages":"6998-7005"},"PeriodicalIF":7.0,"publicationDate":"2026-10-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"149072359","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":1,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 0

Output Feedback Stabilization of Reaction–Diffusion Equations in $H^{2}$-Norm H^{2}$-范数下反应扩散方程的输出反馈镇定

IF 7 1区计算机科学

IEEE Transactions on Automatic Control Pub Date : 2026-10-01 Epub Date: 2026-04-27 DOI: 10.1109/TAC.2026.3688198

Hugo Lhachemi;Christophe Prieur

{"title":"Output Feedback Stabilization of Reaction–Diffusion Equations in $H^{2}$-Norm","authors":"Hugo Lhachemi;Christophe Prieur","doi":"10.1109/TAC.2026.3688198","DOIUrl":"10.1109/TAC.2026.3688198","url":null,"abstract":"This article studies the problem of boundary output feedback stabilization of reaction–diffusion partial differential equations (PDEs) in <inline-formula><tex-math>$H^{2}$</tex-math></inline-formula>-norm. While most of the control strategies reported in the literature embrace the case of the either <inline-formula><tex-math>$L^{2}$</tex-math></inline-formula>- or <inline-formula><tex-math>$H^{1}$</tex-math></inline-formula>-norm, very few address the case of the <inline-formula><tex-math>$H^{2}$</tex-math></inline-formula>-norm. This is achieved in this article for linear reaction–diffusion PDEs with spatially varying coefficients and with a either Neumann or Robin boundary control (but excludes the case of a Dirichlet boundary control) by leveraging spectral reduction methods. The obtained results are extended to three application cases that all specifically require the study of the system trajectories in <inline-formula><tex-math>$H^{2}$</tex-math></inline-formula>-norm for deploying spectral reduction methods. The first one is concerned with the derivation of a robustness result with respect to small linear unbounded in-domain perturbations that include the case of weighted local Dirichlet and Neumann traces. The second one addresses the local stabilization of a class of generalized Hamilton–Jacobi equations. The last one embraces the case of a saturated Neumann measurement for the local exponential stabilization of the plant with explicit estimation of a subset of the domain of attraction.","PeriodicalId":13201,"journal":{"name":"IEEE Transactions on Automatic Control","volume":"71 10","pages":"6510-6524"},"PeriodicalIF":7.0,"publicationDate":"2026-10-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"147752704","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":1,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 0

Excess Mean Squared Error of Empirical Bayes Estimators 经验贝叶斯估计量的超均方误差

IF 7 1区计算机科学

IEEE Transactions on Automatic Control Pub Date : 2026-10-01 Epub Date: 2026-04-20 DOI: 10.1109/TAC.2026.3685569

Yue Ju;Tianshi Chen;Bo Wahlberg;Håkan Hjalmarsson

{"title":"Excess Mean Squared Error of Empirical Bayes Estimators","authors":"Yue Ju;Tianshi Chen;Bo Wahlberg;Håkan Hjalmarsson","doi":"10.1109/TAC.2026.3685569","DOIUrl":"10.1109/TAC.2026.3685569","url":null,"abstract":"Empirical Bayes (EB) estimators are widely used in statistics, machine learning, and system identification. A standard performance measure for such an estimator is the mean squared error (MSE). Unfortunately, an explicit expression for the MSE is generally unavailable for finite sample sizes <inline-formula><tex-math>$N$</tex-math></inline-formula>, and for most estimators of this type the first-order (<inline-formula><tex-math>$1/N$</tex-math></inline-formula>) asymptotic term coincides with the corresponding first-order term of <inline-formula><tex-math>$text{MSE}(hat{bm theta }^{text{ML}})$</tex-math></inline-formula>, the MSE of the maximum likelihood estimator <inline-formula><tex-math>$hat{bm theta }^{text{ML}}$</tex-math></inline-formula>. The latter implies, for example, that standard asymptotic analysis does not reveal the performance loss incurred by hyperparameter estimation. As a means to distinguish the performance of different estimators, we introduce the excess MSE of an EB estimator <inline-formula><tex-math>$hat{bm theta }^{text{EB}}$</tex-math></inline-formula> as the limit of <inline-formula><tex-math>$N^{2}[text{MSE}(hat{bm theta }^{text{EB}})-text{MSE}(hat{bm theta }^{text{ML}})]$</tex-math></inline-formula>. An explicit expression for the excess MSE of an EB estimator employing a general data-dependent hyperparameter estimator is derived, allowing the study of the bias and variance tradeoff, as well as the contribution of hyperparameter estimation to the MSE. As specific instances, we consider kernel-based regularized estimators using the scaled EB, Stein’s unbiased risk estimation, and generalized cross-validation hyperparameter estimators. Moreover, we propose a modification to the excess MSE expression for regularized estimators, and show in simulations that this modification results in improved accuracy for moderate sample sizes.","PeriodicalId":13201,"journal":{"name":"IEEE Transactions on Automatic Control","volume":"71 10","pages":"6525-6540"},"PeriodicalIF":7.0,"publicationDate":"2026-10-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://ieeexplore.ieee.org/stamp/stamp.jsp?tp=&arnumber=11488050","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"147725777","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":1,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"OA","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 0

Distributed Secure State Estimation Against Byzantine Agents: A Multihop Relay-Based Sorting and Filtering Method 针对拜占庭代理的分布式安全状态估计：一种基于多跳中继的排序和过滤方法

IF 7 1区计算机科学

IEEE Transactions on Automatic Control Pub Date : 2026-10-01 Epub Date: 2026-04-10 DOI: 10.1109/TAC.2026.3683008

Jia-Nan Zhang;Chao Deng;An-Yang Lu

{"title":"Distributed Secure State Estimation Against Byzantine Agents: A Multihop Relay-Based Sorting and Filtering Method","authors":"Jia-Nan Zhang;Chao Deng;An-Yang Lu","doi":"10.1109/TAC.2026.3683008","DOIUrl":"10.1109/TAC.2026.3683008","url":null,"abstract":"This article addresses the problem of distributed secure state estimation (DSSE) for cyber-physical systems, where Byzantine agents are present in a multiagent network. To achieve DSSE in polynomial time, a novel multihop weighted distributed gradient descent (MW-DGD) algorithm is proposed. Specifically, the algorithm integrates the sorting and filtering techniques with the minimum message coverage to construct a mathematical equivalent representation under multihop communication. Within this framework, we further derive a more general robustness condition. The resulting necessary and sufficient condition demonstrates that while multihop communication may expand adversarial attack surfaces, it ultimately enhances network resilience against Byzantine agents. In addition, a more versatile distributed error detection algorithm is introduced to dynamically evaluate the estimation performance under Byzantine agents in multihop communication. Compared with existing methods, the MW-DGD algorithm eliminates the need for brute-force search, thereby significantly reducing computational complexity. Finally, simulation results validate the superiority of the algorithm.","PeriodicalId":13201,"journal":{"name":"IEEE Transactions on Automatic Control","volume":"71 10","pages":"6353-6368"},"PeriodicalIF":7.0,"publicationDate":"2026-10-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"147664024","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":1,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 0